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    <title>(3条消息) 【ROS】在 Ubuntu 20.04 安装 ROS 的详细教程_AlphaCatOvO的博客-CSDN博客_ubuntu20.04安装ros</title>
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                    <h1><a name="t0"></a><a id="ROS_0"></a><a href="https://so.csdn.net/so/search?q=ROS%E5%AE%89%E8%A3%85&amp;spm=1001.2101.3001.7020" target="_blank" class="hl hl-1" data-report-click="{&quot;spm&quot;:&quot;1001.2101.3001.7020&quot;,&quot;dest&quot;:&quot;https://so.csdn.net/so/search?q=ROS%E5%AE%89%E8%A3%85&amp;spm=1001.2101.3001.7020&quot;,&quot;extra&quot;:&quot;{\&quot;searchword\&quot;:\&quot;ROS安装\&quot;}&quot;}" data-tit="ROS安装" data-pretit="ros安装">ROS安装</a>指南</h1> 
<p></p>
<div class="toc">
 <h3><a name="t1"></a>目录</h3>
 <ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#ROS_0" target="_self">ROS安装指南</a></li><li><ul><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#_2" target="_self"></a></li></ul>
   </li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#_4" target="_self">前言</a></li><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#_11" target="_self"></a></li></ul>
   </li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#Linux_12" target="_self">一、配置Linux清华镜像源</a></li><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#11__13" target="_self">1.1 介绍</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#12__22" target="_self">1.2 开始配置</a></li></ul>
   </li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#ROS_67" target="_self">二、安装ROS</a></li><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#21_ROS_68" target="_self">2.1 ROS的介绍</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#21__72" target="_self">2.1 开始安装：配置公钥</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#22__81" target="_self">2.2 系统更新</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#23_ROS_87" target="_self">2.3 安装ROS</a></li></ul>
   </li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#ROS_101" target="_self">三、配置ROS</a></li><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#31_rosdep_102" target="_self">3.1 初始化rosdep</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#32__107" target="_self">3.2 环境变量设置</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#33__rosinstall_116" target="_self">3.3 安装 rosinstall</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#34_ROS_121" target="_self">3.4 测试ROS</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#35__146" target="_self">3.5 安装完成</a></li></ul>
   </li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#_153" target="_self">四、相关报错解决</a></li><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#41_rosdep_update__154" target="_self">4.1 rosdep update 报错</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#42_roscore__165" target="_self">4.2 roscore 报错</a></li><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#421__166" target="_self">4.2.1 报错内容</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#422__174" target="_self">4.2.2 解决办法</a></li></ul>
    </li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#43_rosrun_turtlesim_turtlesim_node_1_181" target="_self">4.3 rosrun turtlesim turtlesim_node 报错1</a></li><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#431__182" target="_self">4.3.1 报错内容</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#432__196" target="_self">4.3.2 解决办法</a></li></ul>
    </li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#44__rosrun_turtlesim_turtlesim_node_2_203" target="_self">4.4 rosrun turtlesim turtlesim_node 报错2</a></li><li><ul><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#441__204" target="_self">4.4.1 报错内容</a></li><li><a href="https://blog.csdn.net/PlutooRx/article/details/127558240#442__208" target="_self">4.4.2 解决办法</a></li></ul>
   </li></ul>
  </li></ul>
 </li></ul>
</div>
<p></p> 
<h3><a name="t2"></a><a id="_2"></a></h3> 
<hr> 
<h2><a name="t3"></a><a id="_4"></a>前言</h2> 
<p>由于自己装过两次 ROS，但是重头再来一遍还是遇到了很多困难。尤其是当遇到以前遇到过的问题，我依然会手足无措，翻边互联网的边边角角，试很多遍错才能解决问题。于是便萌发了写下这个<strong>ROS安装指南</strong>的想法。</p> 
<p>这里整理了我安装 ROS 的流程以及遇到的所有问题，也提供了有效的解决方式，如有其他问题或者补充，欢迎评论区留言给我。</p> 
<p>希望此篇 blog 能够对你产生一些帮助<strong>OvO</strong></p> 
<hr> 
<h3><a name="t4"></a><a id="_11"></a></h3> 
<h2><a name="t5"></a><a id="Linux_12"></a>一、配置Linux<a href="https://so.csdn.net/so/search?q=%E6%B8%85%E5%8D%8E%E9%95%9C%E5%83%8F%E6%BA%90&amp;spm=1001.2101.3001.7020" target="_blank" class="hl hl-1" data-report-click="{&quot;spm&quot;:&quot;1001.2101.3001.7020&quot;,&quot;dest&quot;:&quot;https://so.csdn.net/so/search?q=%E6%B8%85%E5%8D%8E%E9%95%9C%E5%83%8F%E6%BA%90&amp;spm=1001.2101.3001.7020&quot;,&quot;extra&quot;:&quot;{\&quot;searchword\&quot;:\&quot;清华镜像源\&quot;}&quot;}" data-tit="清华镜像源" data-pretit="清华镜像源">清华镜像源</a></h2> 
<h3><a name="t6"></a><a id="11__13"></a>1.1 介绍</h3> 
<p>我们在下载很多基础的工具请求的基本上是国外的服务器，这对于国内用户来说，无疑是非常糟糕的体验，其下载速度慢、请求失败往往成为很多刚入门Linux的小白最大的困扰。<br> 不过好在国内有着稳定高速且免费的镜像网站，我们可以通过修改系统配置文件来享受这些优秀的网站资源。</p> 
<blockquote> 
 <p>清华源：https://pypi.tuna.tsinghua.edu.cn/simple/<br> 阿里云：https://mirrors.aliyun.com/pypi/simple<br> 中科大：https://pypi.mirrors.ustc.edu.cn/simple/</p> 
</blockquote> 
<h3><a name="t7"></a><a id="12__22"></a>1.2 开始配置</h3> 
<p>这里我以 <strong>Ubuntu 20.04LTS</strong> 为例来配置 <strong>清华源</strong></p> 
<p>首先进入<a href="https://mirrors.tuna.tsinghua.edu.cn/">清华大学开源软件镜像站</a>(https://mirrors.tuna.tsinghua.edu.cn)</p> 
<p>在列表里选择自己的系统，这里我选择的是 <strong>Ubuntu</strong>，点击后面的问号图案</p> 
<p><img src="./Ubuntu 20.04 安装 ROS_files/1567e88eabd44fbfa9efb310d6154d8e.png" alt="在这里插入图片描述"></p> 
<p>进入后选择自己的系统版本 <strong>20.04LTS</strong></p> 
<p><img src="./Ubuntu 20.04 安装 ROS_files/372d9adaf7724fc4be772974cbbc894b.png" alt="在这里插入图片描述"></p> 
<p>随即文本框中会生成你需要的 <strong>sources.list</strong> 文件内容，打开 Ubuntu 的终端，输入下面的命令</p> 
<pre data-index="0" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> <span class="token function">apt</span> update

<span class="token comment"># 将 sources.list 拷贝到桌面</span>
<span class="token function">cp</span> /etc/apt/sources.list ~/Desktop 

<span class="token comment"># 打开 sources.list 进行编辑</span>
<span class="token function">sudo</span> gedit /etc/apt/sources.list
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li><li style="color: rgb(153, 153, 153);">2</li><li style="color: rgb(153, 153, 153);">3</li><li style="color: rgb(153, 153, 153);">4</li><li style="color: rgb(153, 153, 153);">5</li><li style="color: rgb(153, 153, 153);">6</li><li style="color: rgb(153, 153, 153);">7</li></ul></pre> 
<p>打开文件后，将里面的所有内容替换为之前网页内文本框里的内容，例如</p> 
<pre data-index="1" class="prettyprint"><code class="has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"># 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li><li style="color: rgb(153, 153, 153);">2</li><li style="color: rgb(153, 153, 153);">3</li><li style="color: rgb(153, 153, 153);">4</li><li style="color: rgb(153, 153, 153);">5</li><li style="color: rgb(153, 153, 153);">6</li><li style="color: rgb(153, 153, 153);">7</li><li style="color: rgb(153, 153, 153);">8</li><li style="color: rgb(153, 153, 153);">9</li><li style="color: rgb(153, 153, 153);">10</li><li style="color: rgb(153, 153, 153);">11</li><li style="color: rgb(153, 153, 153);">12</li><li style="color: rgb(153, 153, 153);">13</li></ul></pre> 
<p>然后保存关闭,这样清华源就配置好啦！</p> 
<hr> 
<h2><a name="t8"></a><a id="ROS_67"></a>二、安装ROS</h2> 
<h3><a name="t9"></a><a id="21_ROS_68"></a>2.1 ROS的介绍</h3> 
<p><strong>ROS</strong> 是机器人操作系统（Robot Operating System）的英文缩写，虽然叫做操作系统，但并不是真正意义上的操作系统，而是一个面向机器人的开源的开发平台。<br> 它提供了操作系统应有的服务，包括硬件抽象，底层设备控制，常用函数的实现，进程间消息传递，以及包管理。它也提供用于获取、编译、编写、和跨计算机运行代码所需的工具和库函数。</p> 
<h3><a name="t10"></a><a id="21__72"></a>2.1 开始安装：配置公钥</h3> 
<p>在前面的操作中，我们已经为完成了国内源的配置，这将会让我们后面的install 一路畅通。不过还需要再做一个准备，那就是<strong>配置公钥</strong>。</p> 
<p>公钥是 Ubuntu 系统的一种安全机制，配置公钥让系统信任。</p> 
<pre data-index="2" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> apt-key adv --keyserver <span class="token string">'hkp://keyserver.ubuntu.com:80'</span> --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<h3><a name="t11"></a><a id="22__81"></a>2.2 系统更新</h3> 
<p>更新系统，确保自己的Debian软件包和索引是最新的。</p> 
<pre data-index="3" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> <span class="token function">apt-get</span> update
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<h3><a name="t12"></a><a id="23_ROS_87"></a>2.3 安装ROS</h3> 
<p>大家注意自己的 Ubuntu 版本，我的是 20.04 对应的是 ROS 版本是 noetic</p> 
<p>大家也可以根据自己的 Ubuntu 版本去百度自己的对应的 ROS 版本</p> 
<pre data-index="4" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token comment"># Ubuntu 20.04 </span>
<span class="token function">sudo</span> <span class="token function">apt</span> <span class="token function">install</span> ros-noetic-desktop-full

<span class="token comment"># Ubuntu 18.04 </span>
<span class="token function">sudo</span> <span class="token function">apt</span> <span class="token function">install</span> ros-melodic-desktop-full
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li><li style="color: rgb(153, 153, 153);">2</li><li style="color: rgb(153, 153, 153);">3</li><li style="color: rgb(153, 153, 153);">4</li><li style="color: rgb(153, 153, 153);">5</li></ul></pre> 
<hr> 
<h2><a name="t13"></a><a id="ROS_101"></a>三、配置ROS</h2> 
<h3><a name="t14"></a><a id="31_rosdep_102"></a>3.1 初始化rosdep</h3> 
<pre data-index="5" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> rosdep init <span class="token operator">&amp;&amp;</span> rosdep update
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<p>如果这里出现了报错问题，可以跳转至该文章的4.1部分</p> 
<h3><a name="t15"></a><a id="32__107"></a>3.2 环境变量设置</h3> 
<p>这里容易出错，大家直接复制粘贴就好</p> 
<p>注意对应自己的版本修改目录名</p> 
<pre data-index="6" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token builtin class-name">echo</span> <span class="token string">"source /opt/ros/noetic/setup.bash"</span> <span class="token operator">&gt;&gt;</span> ~/.bashrc
<span class="token builtin class-name">source</span> ~/.bashrc
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li><li style="color: rgb(153, 153, 153);">2</li></ul></pre> 
<h3><a name="t16"></a><a id="33__rosinstall_116"></a>3.3 安装 rosinstall</h3> 
<pre data-index="7" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> <span class="token function">apt</span> <span class="token function">install</span> python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<h3><a name="t17"></a><a id="34_ROS_121"></a>3.4 测试ROS</h3> 
<p><strong>打开第一个终端窗口，运行 roscore</strong></p> 
<pre data-index="8" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;">roscore
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<p>出现如下图的情况，就证明运行成功</p> 
<p><img src="./Ubuntu 20.04 安装 ROS_files/8c60aeca79c44466a86794b9b018ced5.png" alt="在这里插入图片描述"></p> 
<p><strong>打开第二个终端窗口，输入：</strong></p> 
<pre data-index="9" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;">rosrun turtlesim turtlesim_node
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<p>当出现有一个海龟的窗口，证明运行成功了<br> <img src="./Ubuntu 20.04 安装 ROS_files/995de7cb297d4740b29fe6e8b85f36dd.png" alt="在这里插入图片描述"></p> 
<p><strong>打开第三个终端窗口，输入：</strong></p> 
<pre data-index="10" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;">rosrun turtlesim  turtle_teleop_key
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<p><img src="./Ubuntu 20.04 安装 ROS_files/c158ffa296d040c1bc010396f101999b.png" alt="在这里插入图片描述"><br> 出现这样的提示后，我们用鼠标聚焦第三个终端窗口，便可以通过按下 ↑ ↓ ← →键来对小海龟进行控制了。</p> 
<h3><a name="t18"></a><a id="35__146"></a>3.5 安装完成</h3> 
<p><strong>到了这里，恭喜你已经完成了ROS的安装、配置且运行。</strong></p> 
<p><strong>祝你日后的 ROS 学习也更加畅通无阻！</strong></p> 
<hr> 
<h2><a name="t19"></a><a id="_153"></a>四、相关报错解决</h2> 
<h3><a name="t20"></a><a id="41_rosdep_update__154"></a>4.1 rosdep update 报错</h3> 
<p>由于 <strong>rosdep update</strong> 请求的网站是 <strong>raw.githubusercontent.com</strong>，对于大部分人来说，该命令报错的原因主要是 <strong>timed out</strong>。</p> 
<p>网上一般的方法都是通过修改 <strong>/etc/ros/rosdep/sources.list.d/20-default.list</strong> 的请求地址。但我自己通过这个方法并不能解决问题，报错中仍然出现请求 <strong>raw.githubusercontent.com</strong> 时出现 <strong>timed out</strong>。</p> 
<p>好在有我们的 <strong>鱼香ROS</strong> 大神基于 rosdep 源码写的 <strong>rosdepc</strong> ，专门服务国内ROS用户。</p> 
<p>rosdepc: <a href="https://zhuanlan.zhihu.com/p/398754989">https://zhuanlan.zhihu.com/p/398754989</a></p> 
<p>文章里写的教程非常详细，大家可以直接去参考这篇文章。</p> 
<h3><a name="t21"></a><a id="42_roscore__165"></a>4.2 roscore 报错</h3> 
<h4><a id="421__166"></a>4.2.1 报错内容</h4> 
<pre data-index="11" class="prettyprint"><code class="has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;">Resource not found: roslaunch
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/opt/ros/noetic/share
The traceback for the exception was written to the log file
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li><li style="color: rgb(153, 153, 153);">2</li><li style="color: rgb(153, 153, 153);">3</li><li style="color: rgb(153, 153, 153);">4</li></ul></pre> 
<h4><a id="422__174"></a>4.2.2 解决办法</h4> 
<p>注意将 noetic 替换为对应版本</p> 
<pre data-index="12" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> <span class="token function">apt-get</span> <span class="token function">install</span> ros-noetic-roslaunch
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<h3><a name="t22"></a><a id="43_rosrun_turtlesim_turtlesim_node_1_181"></a>4.3 rosrun turtlesim turtlesim_node 报错1</h3> 
<h4><a id="431__182"></a>4.3.1 报错内容</h4> 
<pre data-index="13" class="prettyprint"><code class="has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;">Command 'rosrun' not found, but can be installed with:

sudo apt install rosbash
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li><li style="color: rgb(153, 153, 153);">2</li><li style="color: rgb(153, 153, 153);">3</li></ul></pre> 
<p>我们按照提示输入</p> 
<pre data-index="14" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> <span class="token function">apt</span> <span class="token function">install</span> rosbash
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<p>发现根本不起作用</p> 
<h4><a id="432__196"></a>4.3.2 解决办法</h4> 
<p>注意将 noetic 替换为对应版本</p> 
<pre data-index="15" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> <span class="token function">apt</span> <span class="token function">install</span> ros-noetic-rosbash
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<h3><a name="t23"></a><a id="44__rosrun_turtlesim_turtlesim_node_2_203"></a>4.4 rosrun turtlesim turtlesim_node 报错2</h3> 
<h4><a id="441__204"></a>4.4.1 报错内容</h4> 
<pre data-index="16" class="prettyprint"><code class="has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;">[rospack] Error: package 'turtlesim' not found
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre> 
<h4><a id="442__208"></a>4.4.2 解决办法</h4> 
<p>注意将 noetic 替换为对应版本</p> 
<pre data-index="17" class="prettyprint"><code class="prism language-shell has-numbering" onclick="mdcp.copyCode(event)" style="position: unset;"><span class="token function">sudo</span> <span class="token function">apt-get</span> <span class="token function">install</span> ros-noetic-turtlesim
<div class="hljs-button {2}" data-title="复制"></div></code><ul class="pre-numbering" style=""><li style="color: rgb(153, 153, 153);">1</li></ul></pre>
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		<div class="has-comment-tit">评论<span class="count go-side-comment">3</span><span class="text go-side-comment">条</span><img class="go-side-comment more" src="./Ubuntu 20.04 安装 ROS_files/commentArrowRightWhite.png" alt=""><a class="has-comment-bt-right go-side-comment focus">写评论</a></div>
			<div class="has-comment-con comment-operate-item"><div class="hot-comment-box"><a class="hot-comment-href" target="_blank" href="https://blog.csdn.net/qq_15038343"><img src="./Ubuntu 20.04 安装 ROS_files/3_qq_15038343">qq_15038343</a><span class="hot-comment-tag">热评</span><div class="hot-comment-con">2.1 在开始安装的第一步（配置公匙前面）需要添加ros的软件源，否则将会报错无法定位软件包。添加命令如下：
sudo sh -c '. /etc/lsb-release &amp;&amp; echo "deb <a class="comment-match-url" target="_blank" href="http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/">http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/</a> `lsb_release -cs` main" &gt; /etc/apt/sources.list.d/ros-latest.list'</div></div></div>
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				<div class="desc ellipsis-online ellipsis-online-1">我的情况：
我一开始是按照b站古月居的视频来<em>安装</em><em>Ros</em>，但是由于我的<em>ubuntu</em>版本和视频中的不同，遇到了一些问题，本文用于记录我的<em>安装</em>过程及问题解决方法。
我用的是<em>ubuntu</em> <em>20.04</em>。
同时，为了下载更顺利，我们要先换源。
在这里插入代码片

1.添加软件源：
sudo sh -c 'echo "deb http://packages.<em>ros</em>.org/<em>ros</em>/<em>ubuntu</em> $(lsb_release -sc) main" &gt; /etc/apt/sources.list.d/<em>ros</em>-latest</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>ros</em></div>
			</a>
		</div>
	</div>
</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>Ubuntu</em><em>20.04</em><em>安装</em><em>ROS</em>实操手册&amp;闭坑指南</div>
				</a>
			</div>
			<div class="info-box display-flex">
				<div class="info">
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				</div>
				<div class="info display-flex">
					<span class="info-block time">10-26</span>
					<span class="info-block read"><img class="read-img" src="./Ubuntu 20.04 安装 ROS_files/readCountWhite.png" alt="">
					196
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				</div>
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				<div class="desc ellipsis-online ellipsis-online-1">软件配置中的源和命令导入<em>ros</em>的命令一定要是同一个源，就是下面两个一定要相同，下面都是中科大的源，之前用清华的源，可能是因为不一致导致各种失败，注意这个坑！[在这里插入图片描述](https://img-blog.csdnimg.cn/d815f8cddffa4f97bea9eaea8f1f5901.png。每个<em>Ubuntu</em>系统对应不同的<em>ROS</em>版本，注意确认。#### <em>安装</em><em>ros</em>dep2。如果报错可以参照如下博客。</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>Ubuntu</em> <em>20.04</em>系统下<em>ROS</em>的<em>安装</em></div>
				</a>
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					<span class="info-block time">06-28</span>
					<span class="info-block read"><img class="read-img" src="./Ubuntu 20.04 安装 ROS_files/readCountWhite.png" alt="">
					1204
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				<div class="desc ellipsis-online ellipsis-online-1"><em>ROS</em>的<em>安装</em></div>
			</a>
		</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>详细</em>介绍如何在<em>ubuntu</em><em>20.04</em>中<em>安装</em><em>ROS</em>系统，以及<em>安装</em>过程中出现的常见错误的解决方法，填坑！！！</div>
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					<span class="info-block time">10-07</span>
					<span class="info-block read"><img class="read-img" src="./Ubuntu 20.04 安装 ROS_files/readCountWhite.png" alt="">
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				<div class="desc ellipsis-online ellipsis-online-1">   1、添加<em>ROS</em>软件源
     将以下命令复制到<em>ubuntu</em>的终端执行
sudo sh -c 'echo "deb http://packages.<em>ros</em>.org/<em>ros</em>/<em>ubuntu</em> $(lsb_release -sc) main" &gt; /etc/apt/sources.list.d/<em>ros</em>-latest.list'

   2、添加密钥
     将以下命令复制到<em>ubuntu</em>的终端执行
sudo apt-key adv --keyserver 'hkp://keyserver.<em>ubuntu</em>.</div>
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                <a class="title text-truncate" target="_blank" href="https://blog.csdn.net/PlutooRx/article/details/127558240#comments_24924173" data-report-click="{&quot;mod&quot;:&quot;popu_542&quot;,&quot;spm&quot;:&quot;1001.2101.3001.4231&quot;,&quot;dest&quot;:&quot;https://blog.csdn.net/PlutooRx/article/details/127558240#comments_24924173&quot;,&quot;ab&quot;:&quot;new&quot;}">【ROS】在 Ubuntu 20.04 安装 ROS 的详细教程</a>
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                    <a href="https://blog.csdn.net/qq_15038343" class="user-name" target="_blank">qq_15038343: </a>
                    <span class="code-comments">2.1 在开始安装的第一步（配置公匙前面）需要添加ros的软件源，否则将会报错无法定位软件包。添加命令如下：
sudo sh -c '. /etc/lsb-release &amp;&amp; echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" &gt; /etc/apt/sources.list.d/ros-latest.list'</span>
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                    <a href="https://blog.csdn.net/qq_61654788" class="user-name" target="_blank">Halo267: </a>
                    <span class="code-comments">E: 仓库 “http://mirrors.ustc.edu.cn/ros/ubuntu jammy Release” 没有 Release 文件。</span>
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                <a class="title text-truncate" target="_blank" href="https://blog.csdn.net/PlutooRx/article/details/128196128#comments_24505268" data-report-click="{&quot;mod&quot;:&quot;popu_542&quot;,&quot;spm&quot;:&quot;1001.2101.3001.4231&quot;,&quot;dest&quot;:&quot;https://blog.csdn.net/PlutooRx/article/details/128196128#comments_24505268&quot;,&quot;ab&quot;:&quot;new&quot;}">【数学建模】Matlab实现判别分析（线性判别和二次判别分析）</a>
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                    <a href="https://blog.csdn.net/m0_68388906" class="user-name" target="_blank">-Aspartame-: </a>
                    <span class="code-comments">谢谢分享！太有用啦</span>
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                    <a href="https://blog.csdn.net/m0_68388906" class="user-name" target="_blank">-Aspartame-: </a>
                    <span class="code-comments">谢谢！通过您的教程，我的ros顺利安装好了！</span>
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			<ul class="comment-list"><li class="comment-line-box " data-commentid="24924173" data-replyname="qq_15038343">            <div class="comment-list-item">                <a class="comment-list-href" target="_blank" href="https://blog.csdn.net/qq_15038343"><img src="./Ubuntu 20.04 安装 ROS_files/3_qq_15038343" username="qq_15038343" alt="qq_15038343" class="avatar"></a>                <div class="right-box ">                    <div class="new-info-box clearfix"><div class="comment-top"><div class="user-box"><a class="name-href" target="_blank" href="https://blog.csdn.net/qq_15038343"> <span class="name ">qq_15038343</span></a> <span class="date" title="2023-01-17 22:43:37">2023.01.17</span><div class="opt-comment"><a class="btn-bt  btn-report"><img class="btn-report-img" src="./Ubuntu 20.04 安装 ROS_files/commentLookMore.png" title=""><div class="hide-box"><span data-type="report" class="hide-item hide-report"> 举报</span></div></a><img class="comment_img_replay" src="./Ubuntu 20.04 安装 ROS_files/newCommentReplyWhite.png"><a class="btn-bt  btn-reply" data-type="reply" data-flag="true">回复</a></div></div><div class="comment-like " data-commentid="24924173"><span>2</span><img class="comment-like-img unclickImg" src="./Ubuntu 20.04 安装 ROS_files/commentLikeWhite.png" title="点赞"><img class="comment-like-img comment-like-img-hover" style="display:none" src="./Ubuntu 20.04 安装 ROS_files/commentLikeHover.png" title="点赞"><img class="comment-like-img clickedImg" src="./Ubuntu 20.04 安装 ROS_files/commentLikeActive.png" title="取消点赞"></div></div><div class="comment-center"><div class="new-comment">2.1 在开始安装的第一步（配置公匙前面）需要添加ros的软件源，否则将会报错无法定位软件包。添加命令如下：<br>sudo sh -c '. /etc/lsb-release &amp;&amp; echo "deb <a class="comment-match-url" target="_blank" href="http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/">http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/</a> `lsb_release -cs` main" &gt; /etc/apt/sources.list.d/ros-latest.list'</div></div></div></div></div></li></ul><ul class="comment-list"><li class="comment-line-box " data-commentid="24585450" data-replyname="qq_61654788">            <div class="comment-list-item">                <a class="comment-list-href" target="_blank" href="https://blog.csdn.net/qq_61654788"><img src="./Ubuntu 20.04 安装 ROS_files/3_qq_61654788" username="qq_61654788" alt="qq_61654788" class="avatar"></a>                <div class="right-box ">                    <div class="new-info-box clearfix"><div class="comment-top"><div class="user-box"><a class="name-href" target="_blank" href="https://blog.csdn.net/qq_61654788"> <span class="name ">Halo267</span></a> <span class="date" title="2022-12-16 13:40:44">2022.12.16</span><div class="opt-comment"><a class="btn-bt  btn-report"><img class="btn-report-img" src="./Ubuntu 20.04 安装 ROS_files/commentLookMore.png" title=""><div class="hide-box"><span data-type="report" class="hide-item hide-report"> 举报</span></div></a><img class="comment_img_replay" src="./Ubuntu 20.04 安装 ROS_files/newCommentReplyWhite.png"><a class="btn-bt  btn-reply" data-type="reply" data-flag="true">回复</a></div></div><div class="comment-like " data-commentid="24585450"><span>1</span><img class="comment-like-img unclickImg" src="./Ubuntu 20.04 安装 ROS_files/commentLikeWhite.png" title="点赞"><img class="comment-like-img comment-like-img-hover" style="display:none" src="./Ubuntu 20.04 安装 ROS_files/commentLikeHover.png" title="点赞"><img class="comment-like-img clickedImg" src="./Ubuntu 20.04 安装 ROS_files/commentLikeActive.png" title="取消点赞"></div></div><div class="comment-center"><div class="new-comment">E: 仓库 “<a class="comment-match-url" target="_blank" href="http://mirrors.ustc.edu.cn/ros/ubuntu">http://mirrors.ustc.edu.cn/ros/ubuntu</a> jammy Release” 没有 Release 文件。</div></div></div></div></div></li></ul><ul class="comment-list"><li class="comment-line-box " data-commentid="23865255" data-replyname="m0_68388906">            <div class="comment-list-item">                <a class="comment-list-href" target="_blank" href="https://blog.csdn.net/m0_68388906"><img src="./Ubuntu 20.04 安装 ROS_files/3_m0_68388906" username="m0_68388906" alt="m0_68388906" class="avatar"></a>                <div class="right-box ">                    <div class="new-info-box clearfix"><div class="comment-top"><div class="user-box"><a class="name-href" target="_blank" href="https://blog.csdn.net/m0_68388906"> <span class="name ">-Aspartame-</span></a> <span class="date" title="2022-10-27 22:16:49">2022.10.27</span><div class="opt-comment"><a class="btn-bt  btn-report"><img class="btn-report-img" src="./Ubuntu 20.04 安装 ROS_files/commentLookMore.png" title=""><div class="hide-box"><span data-type="report" class="hide-item hide-report"> 举报</span></div></a><img class="comment_img_replay" src="./Ubuntu 20.04 安装 ROS_files/newCommentReplyWhite.png"><a class="btn-bt  btn-reply" data-type="reply" data-flag="true">回复</a></div></div><div class="comment-like " data-commentid="23865255"><span>1</span><img class="comment-like-img unclickImg" src="./Ubuntu 20.04 安装 ROS_files/commentLikeWhite.png" title="点赞"><img class="comment-like-img comment-like-img-hover" style="display:none" src="./Ubuntu 20.04 安装 ROS_files/commentLikeHover.png" title="点赞"><img class="comment-like-img clickedImg" src="./Ubuntu 20.04 安装 ROS_files/commentLikeActive.png" title="取消点赞"></div></div><div class="comment-center"><div class="new-comment">谢谢！通过您的教程，我的ros顺利安装好了！</div></div></div></div></div></li></ul></div>
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